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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">binocular_distance</span><span data-if="c" style="display:none;">T_binocular_distance</span><span data-if="cpp" style="display:none;">BinocularDistance</span><span data-if="dotnet" style="display:none;">BinocularDistance</span><span data-if="python" style="display:none;">binocular_distance</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">binocular_distance</span><span data-if="c" style="display:none;">T_binocular_distance</span><span data-if="cpp" style="display:none;">BinocularDistance</span><span data-if="dotnet" style="display:none;">BinocularDistance</span><span data-if="python" style="display:none;">binocular_distance</span></code> — Compute the distance values for a rectified stereo image pair using
correlation techniques.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>binocular_distance</b>(<a href="#ImageRect1"><i>ImageRect1</i></a>, <a href="#ImageRect2"><i>ImageRect2</i></a> : <a href="#Distance"><i>Distance</i></a>, <a href="#Score"><i>Score</i></a> : <a href="#CamParamRect1"><i>CamParamRect1</i></a>, <a href="#CamParamRect2"><i>CamParamRect2</i></a>, <a href="#RelPoseRect"><i>RelPoseRect</i></a>, <a href="#Method"><i>Method</i></a>, <a href="#MaskWidth"><i>MaskWidth</i></a>, <a href="#MaskHeight"><i>MaskHeight</i></a>, <a href="#TextureThresh"><i>TextureThresh</i></a>, <a href="#MinDisparity"><i>MinDisparity</i></a>, <a href="#MaxDisparity"><i>MaxDisparity</i></a>, <a href="#NumLevels"><i>NumLevels</i></a>, <a href="#ScoreThresh"><i>ScoreThresh</i></a>, <a href="#Filter"><i>Filter</i></a>, <a href="#SubDistance"><i>SubDistance</i></a> : )</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_binocular_distance</b>(const Hobject <a href="#ImageRect1"><i>ImageRect1</i></a>, const Hobject <a href="#ImageRect2"><i>ImageRect2</i></a>, Hobject* <a href="#Distance"><i>Distance</i></a>, Hobject* <a href="#Score"><i>Score</i></a>, const Htuple <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const Htuple <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const Htuple <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const Htuple <a href="#Method"><i>Method</i></a>, const Htuple <a href="#MaskWidth"><i>MaskWidth</i></a>, const Htuple <a href="#MaskHeight"><i>MaskHeight</i></a>, const Htuple <a href="#TextureThresh"><i>TextureThresh</i></a>, const Htuple <a href="#MinDisparity"><i>MinDisparity</i></a>, const Htuple <a href="#MaxDisparity"><i>MaxDisparity</i></a>, const Htuple <a href="#NumLevels"><i>NumLevels</i></a>, const Htuple <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const Htuple <a href="#Filter"><i>Filter</i></a>, const Htuple <a href="#SubDistance"><i>SubDistance</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>BinocularDistance</b>(const HObject&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HObject&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HObject* <a href="#Distance"><i>Distance</i></a>, HObject* <a href="#Score"><i>Score</i></a>, const HTuple&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HTuple&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HTuple&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const HTuple&amp; <a href="#Method"><i>Method</i></a>, const HTuple&amp; <a href="#MaskWidth"><i>MaskWidth</i></a>, const HTuple&amp; <a href="#MaskHeight"><i>MaskHeight</i></a>, const HTuple&amp; <a href="#TextureThresh"><i>TextureThresh</i></a>, const HTuple&amp; <a href="#MinDisparity"><i>MinDisparity</i></a>, const HTuple&amp; <a href="#MaxDisparity"><i>MaxDisparity</i></a>, const HTuple&amp; <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HTuple&amp; <a href="#Filter"><i>Filter</i></a>, const HTuple&amp; <a href="#SubDistance"><i>SubDistance</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HPose&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, const HTuple&amp; <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HTuple&amp; <a href="#Filter"><i>Filter</i></a>, const HTuple&amp; <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HPose&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HString&amp; <a href="#Filter"><i>Filter</i></a>, const HString&amp; <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HPose&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const char* <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const char* <a href="#Filter"><i>Filter</i></a>, const char* <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HPose&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const wchar_t* <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const wchar_t* <a href="#Filter"><i>Filter</i></a>, const wchar_t* <a href="#SubDistance"><i>SubDistance</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HPose&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, const HTuple&amp; <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HTuple&amp; <a href="#Filter"><i>Filter</i></a>, const HTuple&amp; <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HPose&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HString&amp; <a href="#Filter"><i>Filter</i></a>, const HString&amp; <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HPose&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const char* <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const char* <a href="#Filter"><i>Filter</i></a>, const char* <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HPose&amp; <a href="#RelPoseRect"><i>RelPoseRect</i></a>, const wchar_t* <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const wchar_t* <a href="#Filter"><i>Filter</i></a>, const wchar_t* <a href="#SubDistance"><i>SubDistance</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, const HTuple&amp; <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HTuple&amp; <a href="#Filter"><i>Filter</i></a>, const HTuple&amp; <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HString&amp; <a href="#Filter"><i>Filter</i></a>, const HString&amp; <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const char* <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const char* <a href="#Filter"><i>Filter</i></a>, const char* <a href="#SubDistance"><i>SubDistance</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>::<b>BinocularDistance</b>(const HImage&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HCamPar&amp; <a href="#CamParamRect1"><i>CamParamRect1</i></a>, const HCamPar&amp; <a href="#CamParamRect2"><i>CamParamRect2</i></a>, const wchar_t* <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const wchar_t* <a href="#Filter"><i>Filter</i></a>, const wchar_t* <a href="#SubDistance"><i>SubDistance</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
</div>
<div data-if="com" style="display:none;"></div>
<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>BinocularDistance</b>(<a href="HObject.html">HObject</a> <a href="#ImageRect1"><i>imageRect1</i></a>, <a href="HObject.html">HObject</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HObject.html">HObject</a> <a href="#Distance"><i>distance</i></a>, out <a href="HObject.html">HObject</a> <a href="#Score"><i>score</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Method"><i>method</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaskWidth"><i>maskWidth</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaskHeight"><i>maskHeight</i></a>, <a href="HTuple.html">HTuple</a> <a href="#TextureThresh"><i>textureThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MinDisparity"><i>minDisparity</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaxDisparity"><i>maxDisparity</i></a>, <a href="HTuple.html">HTuple</a> <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ScoreThresh"><i>scoreThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Filter"><i>filter</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SubDistance"><i>subDistance</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>BinocularDistance</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, <a href="HPose.html">HPose</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>, string <a href="#Method"><i>method</i></a>, int <a href="#MaskWidth"><i>maskWidth</i></a>, int <a href="#MaskHeight"><i>maskHeight</i></a>, <a href="HTuple.html">HTuple</a> <a href="#TextureThresh"><i>textureThresh</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ScoreThresh"><i>scoreThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Filter"><i>filter</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SubDistance"><i>subDistance</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>BinocularDistance</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, <a href="HPose.html">HPose</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>, string <a href="#Method"><i>method</i></a>, int <a href="#MaskWidth"><i>maskWidth</i></a>, int <a href="#MaskHeight"><i>maskHeight</i></a>, double <a href="#TextureThresh"><i>textureThresh</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#NumLevels"><i>numLevels</i></a>, double <a href="#ScoreThresh"><i>scoreThresh</i></a>, string <a href="#Filter"><i>filter</i></a>, string <a href="#SubDistance"><i>subDistance</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>.<b>BinocularDistance</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect1"><i>imageRect1</i></a>, <a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, <a href="HPose.html">HPose</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>, string <a href="#Method"><i>method</i></a>, int <a href="#MaskWidth"><i>maskWidth</i></a>, int <a href="#MaskHeight"><i>maskHeight</i></a>, <a href="HTuple.html">HTuple</a> <a href="#TextureThresh"><i>textureThresh</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ScoreThresh"><i>scoreThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Filter"><i>filter</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SubDistance"><i>subDistance</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>.<b>BinocularDistance</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect1"><i>imageRect1</i></a>, <a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, <a href="HPose.html">HPose</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>, string <a href="#Method"><i>method</i></a>, int <a href="#MaskWidth"><i>maskWidth</i></a>, int <a href="#MaskHeight"><i>maskHeight</i></a>, double <a href="#TextureThresh"><i>textureThresh</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#NumLevels"><i>numLevels</i></a>, double <a href="#ScoreThresh"><i>scoreThresh</i></a>, string <a href="#Filter"><i>filter</i></a>, string <a href="#SubDistance"><i>subDistance</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>.<b>BinocularDistance</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect1"><i>imageRect1</i></a>, <a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, string <a href="#Method"><i>method</i></a>, int <a href="#MaskWidth"><i>maskWidth</i></a>, int <a href="#MaskHeight"><i>maskHeight</i></a>, <a href="HTuple.html">HTuple</a> <a href="#TextureThresh"><i>textureThresh</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ScoreThresh"><i>scoreThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Filter"><i>filter</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SubDistance"><i>subDistance</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>.<b>BinocularDistance</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect1"><i>imageRect1</i></a>, <a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, string <a href="#Method"><i>method</i></a>, int <a href="#MaskWidth"><i>maskWidth</i></a>, int <a href="#MaskHeight"><i>maskHeight</i></a>, double <a href="#TextureThresh"><i>textureThresh</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#NumLevels"><i>numLevels</i></a>, double <a href="#ScoreThresh"><i>scoreThresh</i></a>, string <a href="#Filter"><i>filter</i></a>, string <a href="#SubDistance"><i>subDistance</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>binocular_distance</b>(<a href="#ImageRect1"><i>image_rect_1</i></a>: HObject, <a href="#ImageRect2"><i>image_rect_2</i></a>: HObject, <a href="#CamParamRect1"><i>cam_param_rect_1</i></a>: Sequence[Union[int, float, str]], <a href="#CamParamRect2"><i>cam_param_rect_2</i></a>: Sequence[Union[int, float, str]], <a href="#RelPoseRect"><i>rel_pose_rect</i></a>: Sequence[Union[int, float]], <a href="#Method"><i>method</i></a>: str, <a href="#MaskWidth"><i>mask_width</i></a>: int, <a href="#MaskHeight"><i>mask_height</i></a>: int, <a href="#TextureThresh"><i>texture_thresh</i></a>: Union[float, int], <a href="#MinDisparity"><i>min_disparity</i></a>: int, <a href="#MaxDisparity"><i>max_disparity</i></a>: int, <a href="#NumLevels"><i>num_levels</i></a>: int, <a href="#ScoreThresh"><i>score_thresh</i></a>: Union[float, int], <a href="#Filter"><i>filter</i></a>: MaybeSequence[str], <a href="#SubDistance"><i>sub_distance</i></a>: MaybeSequence[str]) -&gt; Tuple[HObject, HObject]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p><code><span data-if="hdevelop" style="display:inline">binocular_distance</span><span data-if="c" style="display:none">binocular_distance</span><span data-if="cpp" style="display:none">BinocularDistance</span><span data-if="com" style="display:none">BinocularDistance</span><span data-if="dotnet" style="display:none">BinocularDistance</span><span data-if="python" style="display:none">binocular_distance</span></code> computes the distance values for a
rectified stereo image pair using correlation techniques. The
operator first calculates the disparities between the two images
<a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> similar to
<a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a>. The resulting disparities are
transformed into distance values of the corresponding 3D world
points to the rectified stereo camera system as in
<a href="disparity_to_distance.html"><code><span data-if="hdevelop" style="display:inline">disparity_to_distance</span><span data-if="c" style="display:none">disparity_to_distance</span><span data-if="cpp" style="display:none">DisparityToDistance</span><span data-if="com" style="display:none">DisparityToDistance</span><span data-if="dotnet" style="display:none">DisparityToDistance</span><span data-if="python" style="display:none">disparity_to_distance</span></code></a>. The distances are returned in the
single-channel image <a href="#Distance"><i><code><span data-if="hdevelop" style="display:inline">Distance</span><span data-if="c" style="display:none">Distance</span><span data-if="cpp" style="display:none">Distance</span><span data-if="com" style="display:none">Distance</span><span data-if="dotnet" style="display:none">distance</span><span data-if="python" style="display:none">distance</span></code></i></a> in which each gray value
represents the distance of the respective 3D world point to the
stereo camera system.
</p>
<p>The algorithm requires a reference image <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and a
search image <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> which must be rectified, i.e.,
corresponding epipolar lines are parallel and lie on identical image
rows (<span title="1" style="vertical-align:-0.260821em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3.24717em" height="0.722762em" viewBox="0 0 51.954758 11.564194">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.038605 7.391052)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,35.634766 7.391052)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span>). In case this assumption is
violated the images can be rectified by using 该算子s
<a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>, <a href="gen_binocular_rectification_map.html"><code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code></a>
and <a href="map_image.html"><code><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></code></a>. Hence, given a pixel in the reference image
<a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> the homologous pixel in <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> is
selected by searching along the corresponding row in
<a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> and matching a local neighborhood within a
rectangular window of size <a href="#MaskWidth"><i><code><span data-if="hdevelop" style="display:inline">MaskWidth</span><span data-if="c" style="display:none">MaskWidth</span><span data-if="cpp" style="display:none">MaskWidth</span><span data-if="com" style="display:none">MaskWidth</span><span data-if="dotnet" style="display:none">maskWidth</span><span data-if="python" style="display:none">mask_width</span></code></i></a> and
<a href="#MaskHeight"><i><code><span data-if="hdevelop" style="display:inline">MaskHeight</span><span data-if="c" style="display:none">MaskHeight</span><span data-if="cpp" style="display:none">MaskHeight</span><span data-if="com" style="display:none">MaskHeight</span><span data-if="dotnet" style="display:none">maskHeight</span><span data-if="python" style="display:none">mask_height</span></code></i></a>. For each defined reference pixel the pixel
correspondences are transformed into distances of the world points
defined by the intersection of the lines of sight of a corresponding
pixel pair to the <span title="2" style="vertical-align:-0.0710211em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="2.45961em" height="0.767042em" viewBox="0 0 39.353729 12.272675">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,12.880951 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,29.706772 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span> plane of the rectified stereo
system.
</p>
<p>For this transformation the rectified internal camera parameters
<a href="#CamParamRect1"><i><code><span data-if="hdevelop" style="display:inline">CamParamRect1</span><span data-if="c" style="display:none">CamParamRect1</span><span data-if="cpp" style="display:none">CamParamRect1</span><span data-if="com" style="display:none">CamParamRect1</span><span data-if="dotnet" style="display:none">camParamRect1</span><span data-if="python" style="display:none">cam_param_rect_1</span></code></i></a> of camera 1 and <a href="#CamParamRect2"><i><code><span data-if="hdevelop" style="display:inline">CamParamRect2</span><span data-if="c" style="display:none">CamParamRect2</span><span data-if="cpp" style="display:none">CamParamRect2</span><span data-if="com" style="display:none">CamParamRect2</span><span data-if="dotnet" style="display:none">camParamRect2</span><span data-if="python" style="display:none">cam_param_rect_2</span></code></i></a> of
camera 2, and the pose with the external parameters <a href="#RelPoseRect"><i><code><span data-if="hdevelop" style="display:inline">RelPoseRect</span><span data-if="c" style="display:none">RelPoseRect</span><span data-if="cpp" style="display:none">RelPoseRect</span><span data-if="com" style="display:none">RelPoseRect</span><span data-if="dotnet" style="display:none">relPoseRect</span><span data-if="python" style="display:none">rel_pose_rect</span></code></i></a>
have to be defined. Latter one is of the form
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and characterizes the relative pose of both cameras to each other.
More precisely, it specifies the point transformation from the
rectified camera system 2 (<i>ccsR2</i>) into the rectified camera system
1 (<i>ccsR1</i>), see <a href="toc_transformations_poses.html">Transformations / Poses</a> and
<code>“Solution Guide III-C - 3D Vision”</code>.
These parameters can be obtained from 该算子
<a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a> and
<a href="gen_binocular_rectification_map.html"><code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code></a>. After all, a quality
measure for each distance value is returned in <a href="#Score"><i><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></i></a>,
containing the best result of the matching function <span title="4" style="vertical-align:-0.0903911em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.794323em" height="0.805782em" viewBox="0 0 12.709167 12.892517">
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reference pixel. For the matching, the gray values of the original
unprocessed images are used.
</p>
<ul>
<li>
<p> <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i>: Summed Absolute Differences
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</li>
<li>
<p> <i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i>: Summed Squared Differences
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<li>
<p> <i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i>: Normalized Cross Correlation
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    <use xlink:href="#GLYPHcmmi10_59"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,85.330505 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_99"></use>
    <use xlink:href="#GLYPHcmmi10_59" x="4.327635"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,99.313263 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_100"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,107.609955 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_41"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,118.236710 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmsy10_20"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,135.062531 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,143.032654 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_58"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,147.460648 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_48"></use>
  </g>
</svg></span>.
</p>
</li>
</ul>
<p>
with </p>
<p>
<span title="11" style="vertical-align:-0.0710211em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.10128em" height="0.767042em" viewBox="0 0 17.620544 12.272675">
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    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_114">
      <path style="fill-rule: evenodd;" d="M88.000000 -59.000000C85.000000 -44.000000,79.000000 -21.000000,79.000000 -16.000000C79.000000 2.000000,93.000000 11.000000,108.000000 11.000000C120.000000 11.000000,138.000000 3.000000,145.000000 -17.000000C147.000000 -21.000000,181.000000 -157.000000,185.000000 -175.000000C193.000000 -208.000000,211.000000 -278.000000,217.000000 -305.000000C221.000000 -318.000000,249.000000 -365.000000,273.000000 -387.000000C281.000000 -394.000000,310.000000 -420.000000,353.000000 -420.000000C379.000000 -420.000000,394.000000 -408.000000,395.000000 -408.000000C365.000000 -403.000000,343.000000 -379.000000,343.000000 -353.000000C343.000000 -337.000000,354.000000 -318.000000,381.000000 -318.000000C408.000000 -318.000000,436.000000 -341.000000,436.000000 -377.000000C436.000000 -412.000000,404.000000 -442.000000,353.000000 -442.000000C288.000000 -442.000000,244.000000 -393.000000,225.000000 -365.000000C217.000000 -410.000000,181.000000 -442.000000,134.000000 -442.000000C88.000000 -442.000000,69.000000 -403.000000,60.000000 -385.000000C42.000000 -351.000000,29.000000 -291.000000,29.000000 -288.000000C29.000000 -278.000000,39.000000 -278.000000,41.000000 -278.000000C51.000000 -278.000000,52.000000 -279.000000,58.000000 -301.000000C75.000000 -372.000000,95.000000 -420.000000,131.000000 -420.000000C148.000000 -420.000000,162.000000 -412.000000,162.000000 -374.000000C162.000000 -353.000000,159.000000 -342.000000,146.000000 -290.000000"></path>
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.205719 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,7.839996 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
  </g>
</svg></span>, <span title="12" style="vertical-align:-0.0710211em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.05527em" height="0.767042em" viewBox="0 0 16.884384 12.272675">
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  <defs>
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    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_99">
      <path style="fill-rule: evenodd;" d="M396.000000 -380.000000C380.000000 -380.000000,366.000000 -380.000000,352.000000 -366.000000C336.000000 -351.000000,334.000000 -334.000000,334.000000 -327.000000C334.000000 -303.000000,352.000000 -292.000000,371.000000 -292.000000C400.000000 -292.000000,427.000000 -316.000000,427.000000 -356.000000C427.000000 -405.000000,380.000000 -442.000000,309.000000 -442.000000C174.000000 -442.000000,41.000000 -299.000000,41.000000 -158.000000C41.000000 -68.000000,99.000000 11.000000,203.000000 11.000000C346.000000 11.000000,430.000000 -95.000000,430.000000 -107.000000C430.000000 -113.000000,424.000000 -120.000000,418.000000 -120.000000C413.000000 -120.000000,411.000000 -118.000000,405.000000 -110.000000C326.000000 -11.000000,217.000000 -11.000000,205.000000 -11.000000C142.000000 -11.000000,115.000000 -60.000000,115.000000 -120.000000C115.000000 -161.000000,135.000000 -258.000000,169.000000 -320.000000C200.000000 -377.000000,255.000000 -420.000000,310.000000 -420.000000C344.000000 -420.000000,382.000000 -407.000000,396.000000 -380.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.573792 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_99"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,7.471909 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
  </g>
</svg></span>, <span title="13" style="vertical-align:-0.0710211em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.10128em" height="0.767042em" viewBox="0 0 17.620544 12.272675">
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    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_114">
      <path style="fill-rule: evenodd;" d="M88.000000 -59.000000C85.000000 -44.000000,79.000000 -21.000000,79.000000 -16.000000C79.000000 2.000000,93.000000 11.000000,108.000000 11.000000C120.000000 11.000000,138.000000 3.000000,145.000000 -17.000000C147.000000 -21.000000,181.000000 -157.000000,185.000000 -175.000000C193.000000 -208.000000,211.000000 -278.000000,217.000000 -305.000000C221.000000 -318.000000,249.000000 -365.000000,273.000000 -387.000000C281.000000 -394.000000,310.000000 -420.000000,353.000000 -420.000000C379.000000 -420.000000,394.000000 -408.000000,395.000000 -408.000000C365.000000 -403.000000,343.000000 -379.000000,343.000000 -353.000000C343.000000 -337.000000,354.000000 -318.000000,381.000000 -318.000000C408.000000 -318.000000,436.000000 -341.000000,436.000000 -377.000000C436.000000 -412.000000,404.000000 -442.000000,353.000000 -442.000000C288.000000 -442.000000,244.000000 -393.000000,225.000000 -365.000000C217.000000 -410.000000,181.000000 -442.000000,134.000000 -442.000000C88.000000 -442.000000,69.000000 -403.000000,60.000000 -385.000000C42.000000 -351.000000,29.000000 -291.000000,29.000000 -288.000000C29.000000 -278.000000,39.000000 -278.000000,41.000000 -278.000000C51.000000 -278.000000,52.000000 -279.000000,58.000000 -301.000000C75.000000 -372.000000,95.000000 -420.000000,131.000000 -420.000000C148.000000 -420.000000,162.000000 -412.000000,162.000000 -374.000000C162.000000 -353.000000,159.000000 -342.000000,146.000000 -290.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.205719 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_114"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,7.839996 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_50"></use>
  </g>
</svg></span>, <span title="14" style="vertical-align:-0.0710211em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.05527em" height="0.767042em" viewBox="0 0 16.884384 12.272675">
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  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_50">
      <path style="fill-rule: evenodd;" d="M127.000000 -77.000000L233.000000 -180.000000C389.000000 -318.000000,449.000000 -372.000000,449.000000 -472.000000C449.000000 -586.000000,359.000000 -666.000000,237.000000 -666.000000C124.000000 -666.000000,50.000000 -574.000000,50.000000 -485.000000C50.000000 -429.000000,100.000000 -429.000000,103.000000 -429.000000C120.000000 -429.000000,155.000000 -441.000000,155.000000 -482.000000C155.000000 -508.000000,137.000000 -534.000000,102.000000 -534.000000C94.000000 -534.000000,92.000000 -534.000000,89.000000 -533.000000C112.000000 -598.000000,166.000000 -635.000000,224.000000 -635.000000C315.000000 -635.000000,358.000000 -554.000000,358.000000 -472.000000C358.000000 -392.000000,308.000000 -313.000000,253.000000 -251.000000L61.000000 -37.000000C50.000000 -26.000000,50.000000 -24.000000,50.000000 -0.000000L421.000000 -0.000000L449.000000 -174.000000L424.000000 -174.000000C419.000000 -144.000000,412.000000 -100.000000,402.000000 -85.000000C395.000000 -77.000000,329.000000 -77.000000,307.000000 -77.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_99">
      <path style="fill-rule: evenodd;" d="M396.000000 -380.000000C380.000000 -380.000000,366.000000 -380.000000,352.000000 -366.000000C336.000000 -351.000000,334.000000 -334.000000,334.000000 -327.000000C334.000000 -303.000000,352.000000 -292.000000,371.000000 -292.000000C400.000000 -292.000000,427.000000 -316.000000,427.000000 -356.000000C427.000000 -405.000000,380.000000 -442.000000,309.000000 -442.000000C174.000000 -442.000000,41.000000 -299.000000,41.000000 -158.000000C41.000000 -68.000000,99.000000 11.000000,203.000000 11.000000C346.000000 11.000000,430.000000 -95.000000,430.000000 -107.000000C430.000000 -113.000000,424.000000 -120.000000,418.000000 -120.000000C413.000000 -120.000000,411.000000 -118.000000,405.000000 -110.000000C326.000000 -11.000000,217.000000 -11.000000,205.000000 -11.000000C142.000000 -11.000000,115.000000 -60.000000,115.000000 -120.000000C115.000000 -161.000000,135.000000 -258.000000,169.000000 -320.000000C200.000000 -377.000000,255.000000 -420.000000,310.000000 -420.000000C344.000000 -420.000000,382.000000 -407.000000,396.000000 -380.000000"></path>
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  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.573792 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,7.471909 11.136337)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_50"></use>
  </g>
</svg></span>:
row and column coordinates of the corresponding
pixels of the two input images,</p>
<p>
<span title="15" style="vertical-align:-0.299101em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.13506em" height="0.960762em" viewBox="0 0 18.161026 15.372192">
<!-- Original BoundingBox: -9.080521 -7.686096 9.080505 7.686096 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_49">
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    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_103">
      <path style="fill-rule: evenodd;" d="M471.000000 -377.000000C472.000000 -383.000000,474.000000 -388.000000,474.000000 -395.000000C474.000000 -412.000000,462.000000 -422.000000,445.000000 -422.000000C435.000000 -422.000000,408.000000 -415.000000,404.000000 -379.000000C386.000000 -416.000000,351.000000 -442.000000,311.000000 -442.000000C197.000000 -442.000000,73.000000 -302.000000,73.000000 -158.000000C73.000000 -59.000000,134.000000 -0.000000,206.000000 -0.000000C265.000000 -0.000000,312.000000 -47.000000,322.000000 -58.000000L323.000000 -57.000000C302.000000 32.000000,290.000000 73.000000,290.000000 75.000000C286.000000 84.000000,252.000000 183.000000,146.000000 183.000000C127.000000 183.000000,94.000000 182.000000,66.000000 173.000000C96.000000 164.000000,107.000000 138.000000,107.000000 121.000000C107.000000 105.000000,96.000000 86.000000,69.000000 86.000000C47.000000 86.000000,15.000000 104.000000,15.000000 144.000000C15.000000 185.000000,52.000000 205.000000,148.000000 205.000000C273.000000 205.000000,345.000000 127.000000,360.000000 67.000000M341.000000 -128.000000C335.000000 -102.000000,312.000000 -77.000000,290.000000 -58.000000C269.000000 -40.000000,238.000000 -22.000000,209.000000 -22.000000C159.000000 -22.000000,144.000000 -74.000000,144.000000 -114.000000C144.000000 -162.000000,173.000000 -280.000000,200.000000 -331.000000C227.000000 -380.000000,270.000000 -420.000000,312.000000 -420.000000C378.000000 -420.000000,392.000000 -339.000000,392.000000 -334.000000C392.000000 -329.000000,390.000000 -323.000000,389.000000 -319.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.935471 10.586578)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_103"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,9.110382 10.586578)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
  </g>
</svg></span>, <span title="16" style="vertical-align:-0.299101em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.13506em" height="0.960762em" viewBox="0 0 18.161026 15.372192">
<!-- Original BoundingBox: -9.080521 -7.686096 9.080505 7.686096 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_50">
      <path style="fill-rule: evenodd;" d="M127.000000 -77.000000L233.000000 -180.000000C389.000000 -318.000000,449.000000 -372.000000,449.000000 -472.000000C449.000000 -586.000000,359.000000 -666.000000,237.000000 -666.000000C124.000000 -666.000000,50.000000 -574.000000,50.000000 -485.000000C50.000000 -429.000000,100.000000 -429.000000,103.000000 -429.000000C120.000000 -429.000000,155.000000 -441.000000,155.000000 -482.000000C155.000000 -508.000000,137.000000 -534.000000,102.000000 -534.000000C94.000000 -534.000000,92.000000 -534.000000,89.000000 -533.000000C112.000000 -598.000000,166.000000 -635.000000,224.000000 -635.000000C315.000000 -635.000000,358.000000 -554.000000,358.000000 -472.000000C358.000000 -392.000000,308.000000 -313.000000,253.000000 -251.000000L61.000000 -37.000000C50.000000 -26.000000,50.000000 -24.000000,50.000000 -0.000000L421.000000 -0.000000L449.000000 -174.000000L424.000000 -174.000000C419.000000 -144.000000,412.000000 -100.000000,402.000000 -85.000000C395.000000 -77.000000,329.000000 -77.000000,307.000000 -77.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_103">
      <path style="fill-rule: evenodd;" d="M471.000000 -377.000000C472.000000 -383.000000,474.000000 -388.000000,474.000000 -395.000000C474.000000 -412.000000,462.000000 -422.000000,445.000000 -422.000000C435.000000 -422.000000,408.000000 -415.000000,404.000000 -379.000000C386.000000 -416.000000,351.000000 -442.000000,311.000000 -442.000000C197.000000 -442.000000,73.000000 -302.000000,73.000000 -158.000000C73.000000 -59.000000,134.000000 -0.000000,206.000000 -0.000000C265.000000 -0.000000,312.000000 -47.000000,322.000000 -58.000000L323.000000 -57.000000C302.000000 32.000000,290.000000 73.000000,290.000000 75.000000C286.000000 84.000000,252.000000 183.000000,146.000000 183.000000C127.000000 183.000000,94.000000 182.000000,66.000000 173.000000C96.000000 164.000000,107.000000 138.000000,107.000000 121.000000C107.000000 105.000000,96.000000 86.000000,69.000000 86.000000C47.000000 86.000000,15.000000 104.000000,15.000000 144.000000C15.000000 185.000000,52.000000 205.000000,148.000000 205.000000C273.000000 205.000000,345.000000 127.000000,360.000000 67.000000M341.000000 -128.000000C335.000000 -102.000000,312.000000 -77.000000,290.000000 -58.000000C269.000000 -40.000000,238.000000 -22.000000,209.000000 -22.000000C159.000000 -22.000000,144.000000 -74.000000,144.000000 -114.000000C144.000000 -162.000000,173.000000 -280.000000,200.000000 -331.000000C227.000000 -380.000000,270.000000 -420.000000,312.000000 -420.000000C378.000000 -420.000000,392.000000 -339.000000,392.000000 -334.000000C392.000000 -329.000000,390.000000 -323.000000,389.000000 -319.000000"></path>
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  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.935471 10.586578)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_103"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,9.110382 10.586578)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_50"></use>
  </g>
</svg></span>: gray values of the unprocessed input images,</p>
<p>
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  </g>
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  </g>
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</svg></span>. </p>
<p>Note that the methods <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i> and <i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i> compare the
gray values of the pixels within a mask window directly, whereas
<i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i> compensates for the mean gray value and its variance
within the mask window. Therefore, if the two images differ in
brightness and contrast, this method should be preferred. For images
with similar brightness and contrast <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i> and
<i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i> are to be preferred as they are faster because of
less complex internal computations. See <a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a>
for further details.
</p>
<p>It should be noted that the quality of correlation for rising S is
falling in methods <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i> and <i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i> (the best
quality value is 0) but rising in method <i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i> (the best
quality value is 1.0).
</p>
<p>The size of the correlation window has to be odd numbered and is
passed in <a href="#MaskWidth"><i><code><span data-if="hdevelop" style="display:inline">MaskWidth</span><span data-if="c" style="display:none">MaskWidth</span><span data-if="cpp" style="display:none">MaskWidth</span><span data-if="com" style="display:none">MaskWidth</span><span data-if="dotnet" style="display:none">maskWidth</span><span data-if="python" style="display:none">mask_width</span></code></i></a> and <a href="#MaskHeight"><i><code><span data-if="hdevelop" style="display:inline">MaskHeight</span><span data-if="c" style="display:none">MaskHeight</span><span data-if="cpp" style="display:none">MaskHeight</span><span data-if="com" style="display:none">MaskHeight</span><span data-if="dotnet" style="display:none">maskHeight</span><span data-if="python" style="display:none">mask_height</span></code></i></a>. The search
space is confined by the minimum and maximum disparity value
<a href="#MinDisparity"><i><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></i></a> and <a href="#MaxDisparity"><i><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></i></a>. Due to pixel values
not defined beyond the image border the resulting domain of
<a href="#Distance"><i><code><span data-if="hdevelop" style="display:inline">Distance</span><span data-if="c" style="display:none">Distance</span><span data-if="cpp" style="display:none">Distance</span><span data-if="com" style="display:none">Distance</span><span data-if="dotnet" style="display:none">distance</span><span data-if="python" style="display:none">distance</span></code></i></a> and <a href="#Score"><i><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></i></a> is generally not set along the
image border within a margin of height <a href="#MaskHeight"><i><code><span data-if="hdevelop" style="display:inline">MaskHeight</span><span data-if="c" style="display:none">MaskHeight</span><span data-if="cpp" style="display:none">MaskHeight</span><span data-if="com" style="display:none">MaskHeight</span><span data-if="dotnet" style="display:none">maskHeight</span><span data-if="python" style="display:none">mask_height</span></code></i></a>/2 at the
top and bottom border and of width <a href="#MaskWidth"><i><code><span data-if="hdevelop" style="display:inline">MaskWidth</span><span data-if="c" style="display:none">MaskWidth</span><span data-if="cpp" style="display:none">MaskWidth</span><span data-if="com" style="display:none">MaskWidth</span><span data-if="dotnet" style="display:none">maskWidth</span><span data-if="python" style="display:none">mask_width</span></code></i></a>/2 at the left
and right border. For the same reason, the maximum disparity range
is reduced at the left and right image border.
</p>
<p>Since matching turns out to be highly unreliable when dealing with
poorly textured areas, the minimum variance within the correlation
window can be defined in <a href="#TextureThresh"><i><code><span data-if="hdevelop" style="display:inline">TextureThresh</span><span data-if="c" style="display:none">TextureThresh</span><span data-if="cpp" style="display:none">TextureThresh</span><span data-if="com" style="display:none">TextureThresh</span><span data-if="dotnet" style="display:none">textureThresh</span><span data-if="python" style="display:none">texture_thresh</span></code></i></a>. This threshold is
applied on both input images <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and
<a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a>. In addition, <a href="#ScoreThresh"><i><code><span data-if="hdevelop" style="display:inline">ScoreThresh</span><span data-if="c" style="display:none">ScoreThresh</span><span data-if="cpp" style="display:none">ScoreThresh</span><span data-if="com" style="display:none">ScoreThresh</span><span data-if="dotnet" style="display:none">scoreThresh</span><span data-if="python" style="display:none">score_thresh</span></code></i></a> guarantees
the matching quality and defines the maximum
(<i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i>,<i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i>) or, respectively, minimum
(<i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i>) score value of the correlation function. Setting
<a href="#Filter"><i><code><span data-if="hdevelop" style="display:inline">Filter</span><span data-if="c" style="display:none">Filter</span><span data-if="cpp" style="display:none">Filter</span><span data-if="com" style="display:none">Filter</span><span data-if="dotnet" style="display:none">filter</span><span data-if="python" style="display:none">filter</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'left_right_check'</span><span data-if="c" style="display:none">"left_right_check"</span><span data-if="cpp" style="display:none">"left_right_check"</span><span data-if="com" style="display:none">"left_right_check"</span><span data-if="dotnet" style="display:none">"left_right_check"</span><span data-if="python" style="display:none">"left_right_check"</span></i>, moreover, increases
the robustness of the returned matches, as the result relies on a
concurrent direct and reverse match, whereas <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>
switches it off.
</p>
<p>The number of pyramid levels used to improve the time response of
<code><span data-if="hdevelop" style="display:inline">binocular_distance</span><span data-if="c" style="display:none">binocular_distance</span><span data-if="cpp" style="display:none">BinocularDistance</span><span data-if="com" style="display:none">BinocularDistance</span><span data-if="dotnet" style="display:none">BinocularDistance</span><span data-if="python" style="display:none">binocular_distance</span></code> is determined by
<a href="#NumLevels"><i><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></i></a>. Following a coarse-to-fine scheme disparity
images of higher levels are computed and segmented into
rectangular subimages to reduce the disparity range on the next
lower pyramid level. <a href="#TextureThresh"><i><code><span data-if="hdevelop" style="display:inline">TextureThresh</span><span data-if="c" style="display:none">TextureThresh</span><span data-if="cpp" style="display:none">TextureThresh</span><span data-if="com" style="display:none">TextureThresh</span><span data-if="dotnet" style="display:none">textureThresh</span><span data-if="python" style="display:none">texture_thresh</span></code></i></a> and <a href="#ScoreThresh"><i><code><span data-if="hdevelop" style="display:inline">ScoreThresh</span><span data-if="c" style="display:none">ScoreThresh</span><span data-if="cpp" style="display:none">ScoreThresh</span><span data-if="com" style="display:none">ScoreThresh</span><span data-if="dotnet" style="display:none">scoreThresh</span><span data-if="python" style="display:none">score_thresh</span></code></i></a>
are applied on every level and the returned domain of the
<a href="#Distance"><i><code><span data-if="hdevelop" style="display:inline">Distance</span><span data-if="c" style="display:none">Distance</span><span data-if="cpp" style="display:none">Distance</span><span data-if="com" style="display:none">Distance</span><span data-if="dotnet" style="display:none">distance</span><span data-if="python" style="display:none">distance</span></code></i></a> and <a href="#Score"><i><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></i></a> images arises from the
intersection of the resulting domains of every single
level. Generally, pyramid structures are the more advantageous the
more the distance image can be segmented into regions of homogeneous
distance values and the bigger the disparity range must be
specified. As a drawback, coarse pyramid levels might loose
important texture information which can result in deficient distance
values.
</p>
<p>Finally, the value <i><span data-if="hdevelop" style="display:inline">'interpolation'</span><span data-if="c" style="display:none">"interpolation"</span><span data-if="cpp" style="display:none">"interpolation"</span><span data-if="com" style="display:none">"interpolation"</span><span data-if="dotnet" style="display:none">"interpolation"</span><span data-if="python" style="display:none">"interpolation"</span></i> for parameter
<a href="#SubDistance"><i><code><span data-if="hdevelop" style="display:inline">SubDistance</span><span data-if="c" style="display:none">SubDistance</span><span data-if="cpp" style="display:none">SubDistance</span><span data-if="com" style="display:none">SubDistance</span><span data-if="dotnet" style="display:none">subDistance</span><span data-if="python" style="display:none">sub_distance</span></code></i></a> increases the refinement and accuracy of the
distance values. It is switched off by setting the parameter to
<i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>.</p>
<h2 id="sec_attention">注意</h2>
<p>If using cameras with telecentric lenses, the <a href="#Distance"><i><code><span data-if="hdevelop" style="display:inline">Distance</span><span data-if="c" style="display:none">Distance</span><span data-if="cpp" style="display:none">Distance</span><span data-if="com" style="display:none">Distance</span><span data-if="dotnet" style="display:none">distance</span><span data-if="python" style="display:none">distance</span></code></i></a> is
not defined as the distance of a point to the camera but as the
distance from the point to the plane, defined by the y-axes of both
cameras and their baseline (see
<a href="gen_binocular_rectification_map.html"><code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code></a>).
</p>
<p>For a stereo setup of mixed type (i.e., for a stereo setup in which
one of the original cameras is a perspective camera and the other
camera is a telecentric camera; see
<a href="gen_binocular_rectification_map.html"><code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code></a>), the rectifying plane of
the two cameras is in a position with respect to the object that
would lead to very unintuitive distances.  Therefore,
<code><span data-if="hdevelop" style="display:inline">binocular_distance</span><span data-if="c" style="display:none">binocular_distance</span><span data-if="cpp" style="display:none">BinocularDistance</span><span data-if="com" style="display:none">BinocularDistance</span><span data-if="dotnet" style="display:none">BinocularDistance</span><span data-if="python" style="display:none">binocular_distance</span></code> does not support a stereo setup of mixed
type.  For stereo setups of mixed type, please use
<a href="reconstruct_surface_stereo.html"><code><span data-if="hdevelop" style="display:inline">reconstruct_surface_stereo</span><span data-if="c" style="display:none">reconstruct_surface_stereo</span><span data-if="cpp" style="display:none">ReconstructSurfaceStereo</span><span data-if="com" style="display:none">ReconstructSurfaceStereo</span><span data-if="dotnet" style="display:none">ReconstructSurfaceStereo</span><span data-if="python" style="display:none">reconstruct_surface_stereo</span></code></a>, in which the reference
coordinate system can be chosen arbitrarily.  Alternatively,
<a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a> and <a href="disparity_image_to_xyz.html"><code><span data-if="hdevelop" style="display:inline">disparity_image_to_xyz</span><span data-if="c" style="display:none">disparity_image_to_xyz</span><span data-if="cpp" style="display:none">DisparityImageToXyz</span><span data-if="com" style="display:none">DisparityImageToXyz</span><span data-if="dotnet" style="display:none">DisparityImageToXyz</span><span data-if="python" style="display:none">disparity_image_to_xyz</span></code></a> might
be used.
</p>
<p>Additionally, stereo setups that contain cameras with and without hypercentric
lenses at the same time are not supported.</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  
    <li>Automatically parallelized on internal data level.</li>
  
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="ImageRect1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte)</span>
</div>
<p class="pardesc">Rectified image of camera 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ImageRect2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte)</span>
</div>
<p class="pardesc">Rectified image of camera 2.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Distance" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Distance</span><span data-if="c" style="display:none">Distance</span><span data-if="cpp" style="display:none">Distance</span><span data-if="com" style="display:none">Distance</span><span data-if="dotnet" style="display:none">distance</span><span data-if="python" style="display:none">distance</span></code></b> (output_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (real)</span>
</div>
<p class="pardesc">Distance image.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Score" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></b> (output_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (real)</span>
</div>
<p class="pardesc">Evaluation of a distance value.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamParamRect1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamParamRect1</span><span data-if="c" style="display:none">CamParamRect1</span><span data-if="cpp" style="display:none">CamParamRect1</span><span data-if="com" style="display:none">CamParamRect1</span><span data-if="dotnet" style="display:none">camParamRect1</span><span data-if="python" style="display:none">cam_param_rect_1</span></code></b> (input_control)  </span><span>campar <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCamPar.html">HCamPar</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Internal camera parameters of the rectified camera 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamParamRect2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamParamRect2</span><span data-if="c" style="display:none">CamParamRect2</span><span data-if="cpp" style="display:none">CamParamRect2</span><span data-if="com" style="display:none">CamParamRect2</span><span data-if="dotnet" style="display:none">camParamRect2</span><span data-if="python" style="display:none">cam_param_rect_2</span></code></b> (input_control)  </span><span>campar <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCamPar.html">HCamPar</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Internal camera parameters of the rectified camera 2.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="RelPoseRect" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RelPoseRect</span><span data-if="c" style="display:none">RelPoseRect</span><span data-if="cpp" style="display:none">RelPoseRect</span><span data-if="com" style="display:none">RelPoseRect</span><span data-if="dotnet" style="display:none">relPoseRect</span><span data-if="python" style="display:none">rel_pose_rect</span></code></b> (input_control)  </span><span>pose <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Point transformation from the rectified camera 2 to
the rectified camera 1.</p>
<p class="pardesc"><span class="parcat">Number of elements:
      </span>7</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Method" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Method</span><span data-if="c" style="display:none">Method</span><span data-if="cpp" style="display:none">Method</span><span data-if="com" style="display:none">Method</span><span data-if="dotnet" style="display:none">method</span><span data-if="python" style="display:none">method</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Matching function.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'ncc'</span>
    <span data-if="c" style="display:none">"ncc"</span>
    <span data-if="cpp" style="display:none">"ncc"</span>
    <span data-if="com" style="display:none">"ncc"</span>
    <span data-if="dotnet" style="display:none">"ncc"</span>
    <span data-if="python" style="display:none">"ncc"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span>, <span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span>, <span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaskWidth" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaskWidth</span><span data-if="c" style="display:none">MaskWidth</span><span data-if="cpp" style="display:none">MaskWidth</span><span data-if="com" style="display:none">MaskWidth</span><span data-if="dotnet" style="display:none">maskWidth</span><span data-if="python" style="display:none">mask_width</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Width of the correlation window.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>11</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>5, 7, 9, 11, 21</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>3 &lt;= MaskWidth &amp;&amp; odd(MaskWidth)</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaskHeight" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaskHeight</span><span data-if="c" style="display:none">MaskHeight</span><span data-if="cpp" style="display:none">MaskHeight</span><span data-if="com" style="display:none">MaskHeight</span><span data-if="dotnet" style="display:none">maskHeight</span><span data-if="python" style="display:none">mask_height</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Height of the correlation window.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>11</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>5, 7, 9, 11, 21</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>3 &lt;= MaskHeight &amp;&amp; odd(MaskHeight)</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="TextureThresh" class="parname"><b><code><span data-if="hdevelop" style="display:inline">TextureThresh</span><span data-if="c" style="display:none">TextureThresh</span><span data-if="cpp" style="display:none">TextureThresh</span><span data-if="com" style="display:none">TextureThresh</span><span data-if="dotnet" style="display:none">textureThresh</span><span data-if="python" style="display:none">texture_thresh</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[float, int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Variance threshold of textured image regions.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.0, 2.0, 5.0, 10.0</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>0.0 &lt;= TextureThresh</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MinDisparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Minimum of the expected disparities.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>-32768
          ≤
        
    <span data-if="hdevelop" style="display:inline">MinDisparity</span>
    <span data-if="c" style="display:none">MinDisparity</span>
    <span data-if="cpp" style="display:none">MinDisparity</span>
    <span data-if="com" style="display:none">MinDisparity</span>
    <span data-if="dotnet" style="display:none">minDisparity</span>
    <span data-if="python" style="display:none">min_disparity</span>
    
          ≤
          32767</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaxDisparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Maximum of the expected disparities.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>30</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>-32768
          ≤
        
    <span data-if="hdevelop" style="display:inline">MaxDisparity</span>
    <span data-if="c" style="display:none">MaxDisparity</span>
    <span data-if="cpp" style="display:none">MaxDisparity</span>
    <span data-if="com" style="display:none">MaxDisparity</span>
    <span data-if="dotnet" style="display:none">maxDisparity</span>
    <span data-if="python" style="display:none">max_disparity</span>
    
          ≤
          32767</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="NumLevels" class="parname"><b><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Number of pyramid levels.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>1</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>1, 2, 3, 4</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>1 &lt;= NumLevels</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="ScoreThresh" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ScoreThresh</span><span data-if="c" style="display:none">ScoreThresh</span><span data-if="cpp" style="display:none">ScoreThresh</span><span data-if="com" style="display:none">ScoreThresh</span><span data-if="dotnet" style="display:none">scoreThresh</span><span data-if="python" style="display:none">score_thresh</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[float, int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Threshold of the correlation function.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.0, 2.0, 5.0, 10.0</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Filter" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Filter</span><span data-if="c" style="display:none">Filter</span><span data-if="cpp" style="display:none">Filter</span><span data-if="com" style="display:none">Filter</span><span data-if="dotnet" style="display:none">filter</span><span data-if="python" style="display:none">filter</span></code></b> (input_control)  </span><span>string(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Downstream filters.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'none'</span>
    <span data-if="c" style="display:none">"none"</span>
    <span data-if="cpp" style="display:none">"none"</span>
    <span data-if="com" style="display:none">"none"</span>
    <span data-if="dotnet" style="display:none">"none"</span>
    <span data-if="python" style="display:none">"none"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'left_right_check'</span><span data-if="c" style="display:none">"left_right_check"</span><span data-if="cpp" style="display:none">"left_right_check"</span><span data-if="com" style="display:none">"left_right_check"</span><span data-if="dotnet" style="display:none">"left_right_check"</span><span data-if="python" style="display:none">"left_right_check"</span>, <span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="SubDistance" class="parname"><b><code><span data-if="hdevelop" style="display:inline">SubDistance</span><span data-if="c" style="display:none">SubDistance</span><span data-if="cpp" style="display:none">SubDistance</span><span data-if="com" style="display:none">SubDistance</span><span data-if="dotnet" style="display:none">subDistance</span><span data-if="python" style="display:none">sub_distance</span></code></b> (input_control)  </span><span>string(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Distance interpolation.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'none'</span>
    <span data-if="c" style="display:none">"none"</span>
    <span data-if="cpp" style="display:none">"none"</span>
    <span data-if="com" style="display:none">"none"</span>
    <span data-if="dotnet" style="display:none">"none"</span>
    <span data-if="python" style="display:none">"none"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'interpolation'</span><span data-if="c" style="display:none">"interpolation"</span><span data-if="cpp" style="display:none">"interpolation"</span><span data-if="com" style="display:none">"interpolation"</span><span data-if="dotnet" style="display:none">"interpolation"</span><span data-if="python" style="display:none">"interpolation"</span>, <span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></p>
</div>
<div data-if="hdevelop" style="display:inline">
<h2 id="sec_example_hdevelop">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)
* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1, 'viewing_direction', \
                                 'bilinear', CamParamRect1, CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2, RelPoseRect)
* Compute the distance values in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_distance (ImageRect1, ImageRect2, Distance, Score, \
                      CamParamRect1, CamParamRect2, RelPoseRect, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<div data-if="c" style="display:none">
<h2 id="sec_example_c">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)
* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1, 'viewing_direction', \
                                 'bilinear', CamParamRect1, CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2, RelPoseRect)
* Compute the distance values in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_distance (ImageRect1, ImageRect2, Distance, Score, \
                      CamParamRect1, CamParamRect2, RelPoseRect, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<div data-if="cpp" style="display:none">
<h2 id="sec_example_cpp">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)
* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1, 'viewing_direction', \
                                 'bilinear', CamParamRect1, CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2, RelPoseRect)
* Compute the distance values in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_distance (ImageRect1, ImageRect2, Distance, Score, \
                      CamParamRect1, CamParamRect2, RelPoseRect, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<div data-if="com" style="display:none">
<h2 id="sec_example_com">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)
* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1, 'viewing_direction', \
                                 'bilinear', CamParamRect1, CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2, RelPoseRect)
* Compute the distance values in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_distance (ImageRect1, ImageRect2, Distance, Score, \
                      CamParamRect1, CamParamRect2, RelPoseRect, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<div data-if="dotnet" style="display:none">
<h2 id="sec_example_dotnet">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)
* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1, 'viewing_direction', \
                                 'bilinear', CamParamRect1, CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2, RelPoseRect)
* Compute the distance values in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_distance (ImageRect1, ImageRect2, Distance, Score, \
                      CamParamRect1, CamParamRect2, RelPoseRect, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<h2 id="sec_result">结果</h2>
<p><a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a> returns <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
     if all parameter values
are correct. 如有必要，将引发异常。</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="map_image.html"><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="threshold.html"><span data-if="hdevelop" style="display:inline">threshold</span><span data-if="c" style="display:none">threshold</span><span data-if="cpp" style="display:none">Threshold</span><span data-if="com" style="display:none">Threshold</span><span data-if="dotnet" style="display:none">Threshold</span><span data-if="python" style="display:none">threshold</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="binocular_distance_mg.html"><span data-if="hdevelop" style="display:inline">binocular_distance_mg</span><span data-if="c" style="display:none">binocular_distance_mg</span><span data-if="cpp" style="display:none">BinocularDistanceMg</span><span data-if="com" style="display:none">BinocularDistanceMg</span><span data-if="dotnet" style="display:none">BinocularDistanceMg</span><span data-if="python" style="display:none">binocular_distance_mg</span></a></code>, 
<code><a href="binocular_distance_ms.html"><span data-if="hdevelop" style="display:inline">binocular_distance_ms</span><span data-if="c" style="display:none">binocular_distance_ms</span><span data-if="cpp" style="display:none">BinocularDistanceMs</span><span data-if="com" style="display:none">BinocularDistanceMs</span><span data-if="dotnet" style="display:none">BinocularDistanceMs</span><span data-if="python" style="display:none">binocular_distance_ms</span></a></code>, 
<code><a href="binocular_disparity.html"><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></a></code>, 
<code><a href="binocular_disparity_mg.html"><span data-if="hdevelop" style="display:inline">binocular_disparity_mg</span><span data-if="c" style="display:none">binocular_disparity_mg</span><span data-if="cpp" style="display:none">BinocularDisparityMg</span><span data-if="com" style="display:none">BinocularDisparityMg</span><span data-if="dotnet" style="display:none">BinocularDisparityMg</span><span data-if="python" style="display:none">binocular_disparity_mg</span></a></code>, 
<code><a href="binocular_disparity_ms.html"><span data-if="hdevelop" style="display:inline">binocular_disparity_ms</span><span data-if="c" style="display:none">binocular_disparity_ms</span><span data-if="cpp" style="display:none">BinocularDisparityMs</span><span data-if="com" style="display:none">BinocularDisparityMs</span><span data-if="dotnet" style="display:none">BinocularDisparityMs</span><span data-if="python" style="display:none">binocular_disparity_ms</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="map_image.html"><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></a></code>, 
<code><a href="gen_binocular_rectification_map.html"><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></a></code>, 
<code><a href="binocular_calibration.html"><span data-if="hdevelop" style="display:inline">binocular_calibration</span><span data-if="c" style="display:none">binocular_calibration</span><span data-if="cpp" style="display:none">BinocularCalibration</span><span data-if="com" style="display:none">BinocularCalibration</span><span data-if="dotnet" style="display:none">BinocularCalibration</span><span data-if="python" style="display:none">binocular_calibration</span></a></code>, 
<code><a href="distance_to_disparity.html"><span data-if="hdevelop" style="display:inline">distance_to_disparity</span><span data-if="c" style="display:none">distance_to_disparity</span><span data-if="cpp" style="display:none">DistanceToDisparity</span><span data-if="com" style="display:none">DistanceToDisparity</span><span data-if="dotnet" style="display:none">DistanceToDisparity</span><span data-if="python" style="display:none">distance_to_disparity</span></a></code>, 
<code><a href="disparity_to_distance.html"><span data-if="hdevelop" style="display:inline">disparity_to_distance</span><span data-if="c" style="display:none">disparity_to_distance</span><span data-if="cpp" style="display:none">DisparityToDistance</span><span data-if="com" style="display:none">DisparityToDistance</span><span data-if="dotnet" style="display:none">DisparityToDistance</span><span data-if="python" style="display:none">disparity_to_distance</span></a></code>, 
<code><a href="disparity_image_to_xyz.html"><span data-if="hdevelop" style="display:inline">disparity_image_to_xyz</span><span data-if="c" style="display:none">disparity_image_to_xyz</span><span data-if="cpp" style="display:none">DisparityImageToXyz</span><span data-if="com" style="display:none">DisparityImageToXyz</span><span data-if="dotnet" style="display:none">DisparityImageToXyz</span><span data-if="python" style="display:none">disparity_image_to_xyz</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
3D Metrology</p>
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